Datasets. We train and evaluate our method on the SemanticKITTI-MOS dataset [1]}, which uses the same split for training and test as used in the original odometry dataset and remapping all the 28 semantic classes into only two types: moving and non-moving/static objects.
The dataset contains 22 sequences in total, where 10 sequences (19,130 frames) are split for training, 1 sequence (4,071 frames) for validation, and 11 sequences (20,351 frames) for testing.
